ROS Index
|
auna_wallfollowing package from auna repoauna_cacc auna_comm auna_control auna_ekf auna_f110 auna_gazebo auna_ground_truth auna_its_msgs auna_msgs auna_nav2 auna_omnet auna_teleoperation auna_template auna_tf auna_wallfollowing auna_waypoints |
ROS Distro
|
Package Summary
| Version | 1.0.0 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/harunteper/auna.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Harun Teper
Authors
auna_wallfollowing
LiDAR-based wall-following controller for AuNa. The node subscribes to a
sensor_msgs/LaserScan topic and publishes
ackermann_msgs/AckermannDriveStamped commands that keep the vehicle at a
desired distance from the wall on its left.
Method
Two range measurements are taken at angles angle_a and angle_b. From the
pair, the node estimates the vehicle’s heading relative to the wall (alpha)
and its current perpendicular distance, then projects that distance forward by
lookahead_distance to obtain the error used for control. Steering is a PID
function of that error; the commanded speed drops to min_velocity when the
error exceeds error_threshold and is max_velocity otherwise.
The integral and derivative terms are scaled by the measured elapsed time
between callbacks, so ki and kd keep their physical meaning (1/s and s)
independently of the LiDAR rate. Periods outside [min_dt, max_dt] are treated
as unreliable — a dropped scan, a paused simulation, a clock jump — and the
rate-dependent terms are held for that cycle.
Topics
| Direction | Topic (default) | Type |
|---|---|---|
| Subscribe | scan |
sensor_msgs/LaserScan |
| Publish | cmd_vel/wallfollowing |
ackermann_msgs/AckermannDriveStamped |
Both are configurable via the lidarscan_topic and drive_topic parameters.
The output topic is one of the input sources of the auna_control command
multiplexer; select wallfollowing in the RViz control panel to drive with it.
Parameters
| Parameter | Default | Meaning |
|---|---|---|
kp |
0.25 | Proportional gain |
ki |
0.0 | Integral gain (1/s) |
kd |
0.0 | Derivative gain (s) |
desired_distance |
0.5 | Target distance to the wall (m) |
velocity |
1.5 | Base velocity (m/s) |
min_velocity |
1.0 | Velocity when the error exceeds error_threshold (m/s) |
max_velocity |
2.0 | Velocity when the error is within error_threshold (m/s) |
error_threshold |
1.0 | Error above which the vehicle slows down (m) |
max_steering_angle |
0.4189 | Steering limit (rad, ~24°) |
angle_a |
π/4 | First scan angle used for the wall estimate (rad) |
angle_b |
π/2 | Second scan angle, perpendicular to the vehicle (rad) |
lookahead_distance |
1.0 | Forward projection of the distance error (m) |
min_dt |
0.001 | Shortest plausible control period (s) |
max_dt |
0.5 | Longest plausible control period (s) |
max_integral |
1.0 | Anti-windup clamp on the integral term |
lidarscan_topic |
scan |
Input scan topic |
drive_topic |
cmd_vel/wallfollowing |
Output drive topic |
Defaults are set in auna_common/config/wallfollowing/wallfollowing.yaml.
Running
Within a scenario, the controller is started by the wallfollowing Compose
service. Standalone:
ros2 launch auna_wallfollowing wallfollowing.launch.py
Tests
colcon test --packages-select auna_wallfollowing
colcon test-result --verbose
test/test_wallfollowing_pid.cpp verifies that the integral and derivative
terms are invariant to the callback rate, that an implausible period holds those
terms, and that the anti-windup clamp bounds the integral in both directions.
Tuning note
ki and kd are interpreted as true integral and derivative gains. Gain sets
tuned before elapsed-time scaling was introduced need to be converted: divide
the old kd by the callback period and multiply the old ki by it. The shipped
defaults are zero for both, so the default configuration is unaffected.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_cmake_gtest | |
| ament_lint_auto | |
| ament_lint_common | |
| rclcpp | |
| rclpy | |
| std_msgs | |
| sensor_msgs | |
| ackermann_msgs | |
| geometry_msgs |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged auna_wallfollowing at Robotics Stack Exchange
|
|
auna_wallfollowing package from auna repoauna_cacc auna_comm auna_control auna_ekf auna_f110 auna_gazebo auna_ground_truth auna_its_msgs auna_msgs auna_nav2 auna_omnet auna_teleoperation auna_template auna_tf auna_wallfollowing auna_waypoints |
ROS Distro
|
Package Summary
| Version | 1.0.0 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/harunteper/auna.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Harun Teper
Authors
auna_wallfollowing
LiDAR-based wall-following controller for AuNa. The node subscribes to a
sensor_msgs/LaserScan topic and publishes
ackermann_msgs/AckermannDriveStamped commands that keep the vehicle at a
desired distance from the wall on its left.
Method
Two range measurements are taken at angles angle_a and angle_b. From the
pair, the node estimates the vehicle’s heading relative to the wall (alpha)
and its current perpendicular distance, then projects that distance forward by
lookahead_distance to obtain the error used for control. Steering is a PID
function of that error; the commanded speed drops to min_velocity when the
error exceeds error_threshold and is max_velocity otherwise.
The integral and derivative terms are scaled by the measured elapsed time
between callbacks, so ki and kd keep their physical meaning (1/s and s)
independently of the LiDAR rate. Periods outside [min_dt, max_dt] are treated
as unreliable — a dropped scan, a paused simulation, a clock jump — and the
rate-dependent terms are held for that cycle.
Topics
| Direction | Topic (default) | Type |
|---|---|---|
| Subscribe | scan |
sensor_msgs/LaserScan |
| Publish | cmd_vel/wallfollowing |
ackermann_msgs/AckermannDriveStamped |
Both are configurable via the lidarscan_topic and drive_topic parameters.
The output topic is one of the input sources of the auna_control command
multiplexer; select wallfollowing in the RViz control panel to drive with it.
Parameters
| Parameter | Default | Meaning |
|---|---|---|
kp |
0.25 | Proportional gain |
ki |
0.0 | Integral gain (1/s) |
kd |
0.0 | Derivative gain (s) |
desired_distance |
0.5 | Target distance to the wall (m) |
velocity |
1.5 | Base velocity (m/s) |
min_velocity |
1.0 | Velocity when the error exceeds error_threshold (m/s) |
max_velocity |
2.0 | Velocity when the error is within error_threshold (m/s) |
error_threshold |
1.0 | Error above which the vehicle slows down (m) |
max_steering_angle |
0.4189 | Steering limit (rad, ~24°) |
angle_a |
π/4 | First scan angle used for the wall estimate (rad) |
angle_b |
π/2 | Second scan angle, perpendicular to the vehicle (rad) |
lookahead_distance |
1.0 | Forward projection of the distance error (m) |
min_dt |
0.001 | Shortest plausible control period (s) |
max_dt |
0.5 | Longest plausible control period (s) |
max_integral |
1.0 | Anti-windup clamp on the integral term |
lidarscan_topic |
scan |
Input scan topic |
drive_topic |
cmd_vel/wallfollowing |
Output drive topic |
Defaults are set in auna_common/config/wallfollowing/wallfollowing.yaml.
Running
Within a scenario, the controller is started by the wallfollowing Compose
service. Standalone:
ros2 launch auna_wallfollowing wallfollowing.launch.py
Tests
colcon test --packages-select auna_wallfollowing
colcon test-result --verbose
test/test_wallfollowing_pid.cpp verifies that the integral and derivative
terms are invariant to the callback rate, that an implausible period holds those
terms, and that the anti-windup clamp bounds the integral in both directions.
Tuning note
ki and kd are interpreted as true integral and derivative gains. Gain sets
tuned before elapsed-time scaling was introduced need to be converted: divide
the old kd by the callback period and multiply the old ki by it. The shipped
defaults are zero for both, so the default configuration is unaffected.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_cmake_gtest | |
| ament_lint_auto | |
| ament_lint_common | |
| rclcpp | |
| rclpy | |
| std_msgs | |
| sensor_msgs | |
| ackermann_msgs | |
| geometry_msgs |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged auna_wallfollowing at Robotics Stack Exchange
|
|
auna_wallfollowing package from auna repoauna_cacc auna_comm auna_control auna_ekf auna_f110 auna_gazebo auna_ground_truth auna_its_msgs auna_msgs auna_nav2 auna_omnet auna_teleoperation auna_template auna_tf auna_wallfollowing auna_waypoints |
ROS Distro
|
Package Summary
| Version | 1.0.0 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/harunteper/auna.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Harun Teper
Authors
auna_wallfollowing
LiDAR-based wall-following controller for AuNa. The node subscribes to a
sensor_msgs/LaserScan topic and publishes
ackermann_msgs/AckermannDriveStamped commands that keep the vehicle at a
desired distance from the wall on its left.
Method
Two range measurements are taken at angles angle_a and angle_b. From the
pair, the node estimates the vehicle’s heading relative to the wall (alpha)
and its current perpendicular distance, then projects that distance forward by
lookahead_distance to obtain the error used for control. Steering is a PID
function of that error; the commanded speed drops to min_velocity when the
error exceeds error_threshold and is max_velocity otherwise.
The integral and derivative terms are scaled by the measured elapsed time
between callbacks, so ki and kd keep their physical meaning (1/s and s)
independently of the LiDAR rate. Periods outside [min_dt, max_dt] are treated
as unreliable — a dropped scan, a paused simulation, a clock jump — and the
rate-dependent terms are held for that cycle.
Topics
| Direction | Topic (default) | Type |
|---|---|---|
| Subscribe | scan |
sensor_msgs/LaserScan |
| Publish | cmd_vel/wallfollowing |
ackermann_msgs/AckermannDriveStamped |
Both are configurable via the lidarscan_topic and drive_topic parameters.
The output topic is one of the input sources of the auna_control command
multiplexer; select wallfollowing in the RViz control panel to drive with it.
Parameters
| Parameter | Default | Meaning |
|---|---|---|
kp |
0.25 | Proportional gain |
ki |
0.0 | Integral gain (1/s) |
kd |
0.0 | Derivative gain (s) |
desired_distance |
0.5 | Target distance to the wall (m) |
velocity |
1.5 | Base velocity (m/s) |
min_velocity |
1.0 | Velocity when the error exceeds error_threshold (m/s) |
max_velocity |
2.0 | Velocity when the error is within error_threshold (m/s) |
error_threshold |
1.0 | Error above which the vehicle slows down (m) |
max_steering_angle |
0.4189 | Steering limit (rad, ~24°) |
angle_a |
π/4 | First scan angle used for the wall estimate (rad) |
angle_b |
π/2 | Second scan angle, perpendicular to the vehicle (rad) |
lookahead_distance |
1.0 | Forward projection of the distance error (m) |
min_dt |
0.001 | Shortest plausible control period (s) |
max_dt |
0.5 | Longest plausible control period (s) |
max_integral |
1.0 | Anti-windup clamp on the integral term |
lidarscan_topic |
scan |
Input scan topic |
drive_topic |
cmd_vel/wallfollowing |
Output drive topic |
Defaults are set in auna_common/config/wallfollowing/wallfollowing.yaml.
Running
Within a scenario, the controller is started by the wallfollowing Compose
service. Standalone:
ros2 launch auna_wallfollowing wallfollowing.launch.py
Tests
colcon test --packages-select auna_wallfollowing
colcon test-result --verbose
test/test_wallfollowing_pid.cpp verifies that the integral and derivative
terms are invariant to the callback rate, that an implausible period holds those
terms, and that the anti-windup clamp bounds the integral in both directions.
Tuning note
ki and kd are interpreted as true integral and derivative gains. Gain sets
tuned before elapsed-time scaling was introduced need to be converted: divide
the old kd by the callback period and multiply the old ki by it. The shipped
defaults are zero for both, so the default configuration is unaffected.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_cmake_gtest | |
| ament_lint_auto | |
| ament_lint_common | |
| rclcpp | |
| rclpy | |
| std_msgs | |
| sensor_msgs | |
| ackermann_msgs | |
| geometry_msgs |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged auna_wallfollowing at Robotics Stack Exchange
|
|
auna_wallfollowing package from auna repoauna_cacc auna_comm auna_control auna_ekf auna_f110 auna_gazebo auna_ground_truth auna_its_msgs auna_msgs auna_nav2 auna_omnet auna_teleoperation auna_template auna_tf auna_wallfollowing auna_waypoints |
ROS Distro
|
Package Summary
| Version | 1.0.0 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/harunteper/auna.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Harun Teper
Authors
auna_wallfollowing
LiDAR-based wall-following controller for AuNa. The node subscribes to a
sensor_msgs/LaserScan topic and publishes
ackermann_msgs/AckermannDriveStamped commands that keep the vehicle at a
desired distance from the wall on its left.
Method
Two range measurements are taken at angles angle_a and angle_b. From the
pair, the node estimates the vehicle’s heading relative to the wall (alpha)
and its current perpendicular distance, then projects that distance forward by
lookahead_distance to obtain the error used for control. Steering is a PID
function of that error; the commanded speed drops to min_velocity when the
error exceeds error_threshold and is max_velocity otherwise.
The integral and derivative terms are scaled by the measured elapsed time
between callbacks, so ki and kd keep their physical meaning (1/s and s)
independently of the LiDAR rate. Periods outside [min_dt, max_dt] are treated
as unreliable — a dropped scan, a paused simulation, a clock jump — and the
rate-dependent terms are held for that cycle.
Topics
| Direction | Topic (default) | Type |
|---|---|---|
| Subscribe | scan |
sensor_msgs/LaserScan |
| Publish | cmd_vel/wallfollowing |
ackermann_msgs/AckermannDriveStamped |
Both are configurable via the lidarscan_topic and drive_topic parameters.
The output topic is one of the input sources of the auna_control command
multiplexer; select wallfollowing in the RViz control panel to drive with it.
Parameters
| Parameter | Default | Meaning |
|---|---|---|
kp |
0.25 | Proportional gain |
ki |
0.0 | Integral gain (1/s) |
kd |
0.0 | Derivative gain (s) |
desired_distance |
0.5 | Target distance to the wall (m) |
velocity |
1.5 | Base velocity (m/s) |
min_velocity |
1.0 | Velocity when the error exceeds error_threshold (m/s) |
max_velocity |
2.0 | Velocity when the error is within error_threshold (m/s) |
error_threshold |
1.0 | Error above which the vehicle slows down (m) |
max_steering_angle |
0.4189 | Steering limit (rad, ~24°) |
angle_a |
π/4 | First scan angle used for the wall estimate (rad) |
angle_b |
π/2 | Second scan angle, perpendicular to the vehicle (rad) |
lookahead_distance |
1.0 | Forward projection of the distance error (m) |
min_dt |
0.001 | Shortest plausible control period (s) |
max_dt |
0.5 | Longest plausible control period (s) |
max_integral |
1.0 | Anti-windup clamp on the integral term |
lidarscan_topic |
scan |
Input scan topic |
drive_topic |
cmd_vel/wallfollowing |
Output drive topic |
Defaults are set in auna_common/config/wallfollowing/wallfollowing.yaml.
Running
Within a scenario, the controller is started by the wallfollowing Compose
service. Standalone:
ros2 launch auna_wallfollowing wallfollowing.launch.py
Tests
colcon test --packages-select auna_wallfollowing
colcon test-result --verbose
test/test_wallfollowing_pid.cpp verifies that the integral and derivative
terms are invariant to the callback rate, that an implausible period holds those
terms, and that the anti-windup clamp bounds the integral in both directions.
Tuning note
ki and kd are interpreted as true integral and derivative gains. Gain sets
tuned before elapsed-time scaling was introduced need to be converted: divide
the old kd by the callback period and multiply the old ki by it. The shipped
defaults are zero for both, so the default configuration is unaffected.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_cmake_gtest | |
| ament_lint_auto | |
| ament_lint_common | |
| rclcpp | |
| rclpy | |
| std_msgs | |
| sensor_msgs | |
| ackermann_msgs | |
| geometry_msgs |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged auna_wallfollowing at Robotics Stack Exchange
|
|
auna_wallfollowing package from auna repoauna_cacc auna_comm auna_control auna_ekf auna_f110 auna_gazebo auna_ground_truth auna_its_msgs auna_msgs auna_nav2 auna_omnet auna_teleoperation auna_template auna_tf auna_wallfollowing auna_waypoints |
ROS Distro
|
Package Summary
| Version | 1.0.0 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/harunteper/auna.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Harun Teper
Authors
auna_wallfollowing
LiDAR-based wall-following controller for AuNa. The node subscribes to a
sensor_msgs/LaserScan topic and publishes
ackermann_msgs/AckermannDriveStamped commands that keep the vehicle at a
desired distance from the wall on its left.
Method
Two range measurements are taken at angles angle_a and angle_b. From the
pair, the node estimates the vehicle’s heading relative to the wall (alpha)
and its current perpendicular distance, then projects that distance forward by
lookahead_distance to obtain the error used for control. Steering is a PID
function of that error; the commanded speed drops to min_velocity when the
error exceeds error_threshold and is max_velocity otherwise.
The integral and derivative terms are scaled by the measured elapsed time
between callbacks, so ki and kd keep their physical meaning (1/s and s)
independently of the LiDAR rate. Periods outside [min_dt, max_dt] are treated
as unreliable — a dropped scan, a paused simulation, a clock jump — and the
rate-dependent terms are held for that cycle.
Topics
| Direction | Topic (default) | Type |
|---|---|---|
| Subscribe | scan |
sensor_msgs/LaserScan |
| Publish | cmd_vel/wallfollowing |
ackermann_msgs/AckermannDriveStamped |
Both are configurable via the lidarscan_topic and drive_topic parameters.
The output topic is one of the input sources of the auna_control command
multiplexer; select wallfollowing in the RViz control panel to drive with it.
Parameters
| Parameter | Default | Meaning |
|---|---|---|
kp |
0.25 | Proportional gain |
ki |
0.0 | Integral gain (1/s) |
kd |
0.0 | Derivative gain (s) |
desired_distance |
0.5 | Target distance to the wall (m) |
velocity |
1.5 | Base velocity (m/s) |
min_velocity |
1.0 | Velocity when the error exceeds error_threshold (m/s) |
max_velocity |
2.0 | Velocity when the error is within error_threshold (m/s) |
error_threshold |
1.0 | Error above which the vehicle slows down (m) |
max_steering_angle |
0.4189 | Steering limit (rad, ~24°) |
angle_a |
π/4 | First scan angle used for the wall estimate (rad) |
angle_b |
π/2 | Second scan angle, perpendicular to the vehicle (rad) |
lookahead_distance |
1.0 | Forward projection of the distance error (m) |
min_dt |
0.001 | Shortest plausible control period (s) |
max_dt |
0.5 | Longest plausible control period (s) |
max_integral |
1.0 | Anti-windup clamp on the integral term |
lidarscan_topic |
scan |
Input scan topic |
drive_topic |
cmd_vel/wallfollowing |
Output drive topic |
Defaults are set in auna_common/config/wallfollowing/wallfollowing.yaml.
Running
Within a scenario, the controller is started by the wallfollowing Compose
service. Standalone:
ros2 launch auna_wallfollowing wallfollowing.launch.py
Tests
colcon test --packages-select auna_wallfollowing
colcon test-result --verbose
test/test_wallfollowing_pid.cpp verifies that the integral and derivative
terms are invariant to the callback rate, that an implausible period holds those
terms, and that the anti-windup clamp bounds the integral in both directions.
Tuning note
ki and kd are interpreted as true integral and derivative gains. Gain sets
tuned before elapsed-time scaling was introduced need to be converted: divide
the old kd by the callback period and multiply the old ki by it. The shipped
defaults are zero for both, so the default configuration is unaffected.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_cmake_gtest | |
| ament_lint_auto | |
| ament_lint_common | |
| rclcpp | |
| rclpy | |
| std_msgs | |
| sensor_msgs | |
| ackermann_msgs | |
| geometry_msgs |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged auna_wallfollowing at Robotics Stack Exchange
|
|
auna_wallfollowing package from auna repoauna_cacc auna_comm auna_control auna_ekf auna_f110 auna_gazebo auna_ground_truth auna_its_msgs auna_msgs auna_nav2 auna_omnet auna_teleoperation auna_template auna_tf auna_wallfollowing auna_waypoints |
ROS Distro
|
Package Summary
| Version | 1.0.0 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/harunteper/auna.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Harun Teper
Authors
auna_wallfollowing
LiDAR-based wall-following controller for AuNa. The node subscribes to a
sensor_msgs/LaserScan topic and publishes
ackermann_msgs/AckermannDriveStamped commands that keep the vehicle at a
desired distance from the wall on its left.
Method
Two range measurements are taken at angles angle_a and angle_b. From the
pair, the node estimates the vehicle’s heading relative to the wall (alpha)
and its current perpendicular distance, then projects that distance forward by
lookahead_distance to obtain the error used for control. Steering is a PID
function of that error; the commanded speed drops to min_velocity when the
error exceeds error_threshold and is max_velocity otherwise.
The integral and derivative terms are scaled by the measured elapsed time
between callbacks, so ki and kd keep their physical meaning (1/s and s)
independently of the LiDAR rate. Periods outside [min_dt, max_dt] are treated
as unreliable — a dropped scan, a paused simulation, a clock jump — and the
rate-dependent terms are held for that cycle.
Topics
| Direction | Topic (default) | Type |
|---|---|---|
| Subscribe | scan |
sensor_msgs/LaserScan |
| Publish | cmd_vel/wallfollowing |
ackermann_msgs/AckermannDriveStamped |
Both are configurable via the lidarscan_topic and drive_topic parameters.
The output topic is one of the input sources of the auna_control command
multiplexer; select wallfollowing in the RViz control panel to drive with it.
Parameters
| Parameter | Default | Meaning |
|---|---|---|
kp |
0.25 | Proportional gain |
ki |
0.0 | Integral gain (1/s) |
kd |
0.0 | Derivative gain (s) |
desired_distance |
0.5 | Target distance to the wall (m) |
velocity |
1.5 | Base velocity (m/s) |
min_velocity |
1.0 | Velocity when the error exceeds error_threshold (m/s) |
max_velocity |
2.0 | Velocity when the error is within error_threshold (m/s) |
error_threshold |
1.0 | Error above which the vehicle slows down (m) |
max_steering_angle |
0.4189 | Steering limit (rad, ~24°) |
angle_a |
π/4 | First scan angle used for the wall estimate (rad) |
angle_b |
π/2 | Second scan angle, perpendicular to the vehicle (rad) |
lookahead_distance |
1.0 | Forward projection of the distance error (m) |
min_dt |
0.001 | Shortest plausible control period (s) |
max_dt |
0.5 | Longest plausible control period (s) |
max_integral |
1.0 | Anti-windup clamp on the integral term |
lidarscan_topic |
scan |
Input scan topic |
drive_topic |
cmd_vel/wallfollowing |
Output drive topic |
Defaults are set in auna_common/config/wallfollowing/wallfollowing.yaml.
Running
Within a scenario, the controller is started by the wallfollowing Compose
service. Standalone:
ros2 launch auna_wallfollowing wallfollowing.launch.py
Tests
colcon test --packages-select auna_wallfollowing
colcon test-result --verbose
test/test_wallfollowing_pid.cpp verifies that the integral and derivative
terms are invariant to the callback rate, that an implausible period holds those
terms, and that the anti-windup clamp bounds the integral in both directions.
Tuning note
ki and kd are interpreted as true integral and derivative gains. Gain sets
tuned before elapsed-time scaling was introduced need to be converted: divide
the old kd by the callback period and multiply the old ki by it. The shipped
defaults are zero for both, so the default configuration is unaffected.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_cmake_gtest | |
| ament_lint_auto | |
| ament_lint_common | |
| rclcpp | |
| rclpy | |
| std_msgs | |
| sensor_msgs | |
| ackermann_msgs | |
| geometry_msgs |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged auna_wallfollowing at Robotics Stack Exchange
|
|
auna_wallfollowing package from auna repoauna_cacc auna_comm auna_control auna_ekf auna_f110 auna_gazebo auna_ground_truth auna_its_msgs auna_msgs auna_nav2 auna_omnet auna_teleoperation auna_template auna_tf auna_wallfollowing auna_waypoints |
ROS Distro
|
Package Summary
| Version | 1.0.0 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/harunteper/auna.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Harun Teper
Authors
auna_wallfollowing
LiDAR-based wall-following controller for AuNa. The node subscribes to a
sensor_msgs/LaserScan topic and publishes
ackermann_msgs/AckermannDriveStamped commands that keep the vehicle at a
desired distance from the wall on its left.
Method
Two range measurements are taken at angles angle_a and angle_b. From the
pair, the node estimates the vehicle’s heading relative to the wall (alpha)
and its current perpendicular distance, then projects that distance forward by
lookahead_distance to obtain the error used for control. Steering is a PID
function of that error; the commanded speed drops to min_velocity when the
error exceeds error_threshold and is max_velocity otherwise.
The integral and derivative terms are scaled by the measured elapsed time
between callbacks, so ki and kd keep their physical meaning (1/s and s)
independently of the LiDAR rate. Periods outside [min_dt, max_dt] are treated
as unreliable — a dropped scan, a paused simulation, a clock jump — and the
rate-dependent terms are held for that cycle.
Topics
| Direction | Topic (default) | Type |
|---|---|---|
| Subscribe | scan |
sensor_msgs/LaserScan |
| Publish | cmd_vel/wallfollowing |
ackermann_msgs/AckermannDriveStamped |
Both are configurable via the lidarscan_topic and drive_topic parameters.
The output topic is one of the input sources of the auna_control command
multiplexer; select wallfollowing in the RViz control panel to drive with it.
Parameters
| Parameter | Default | Meaning |
|---|---|---|
kp |
0.25 | Proportional gain |
ki |
0.0 | Integral gain (1/s) |
kd |
0.0 | Derivative gain (s) |
desired_distance |
0.5 | Target distance to the wall (m) |
velocity |
1.5 | Base velocity (m/s) |
min_velocity |
1.0 | Velocity when the error exceeds error_threshold (m/s) |
max_velocity |
2.0 | Velocity when the error is within error_threshold (m/s) |
error_threshold |
1.0 | Error above which the vehicle slows down (m) |
max_steering_angle |
0.4189 | Steering limit (rad, ~24°) |
angle_a |
π/4 | First scan angle used for the wall estimate (rad) |
angle_b |
π/2 | Second scan angle, perpendicular to the vehicle (rad) |
lookahead_distance |
1.0 | Forward projection of the distance error (m) |
min_dt |
0.001 | Shortest plausible control period (s) |
max_dt |
0.5 | Longest plausible control period (s) |
max_integral |
1.0 | Anti-windup clamp on the integral term |
lidarscan_topic |
scan |
Input scan topic |
drive_topic |
cmd_vel/wallfollowing |
Output drive topic |
Defaults are set in auna_common/config/wallfollowing/wallfollowing.yaml.
Running
Within a scenario, the controller is started by the wallfollowing Compose
service. Standalone:
ros2 launch auna_wallfollowing wallfollowing.launch.py
Tests
colcon test --packages-select auna_wallfollowing
colcon test-result --verbose
test/test_wallfollowing_pid.cpp verifies that the integral and derivative
terms are invariant to the callback rate, that an implausible period holds those
terms, and that the anti-windup clamp bounds the integral in both directions.
Tuning note
ki and kd are interpreted as true integral and derivative gains. Gain sets
tuned before elapsed-time scaling was introduced need to be converted: divide
the old kd by the callback period and multiply the old ki by it. The shipped
defaults are zero for both, so the default configuration is unaffected.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_cmake_gtest | |
| ament_lint_auto | |
| ament_lint_common | |
| rclcpp | |
| rclpy | |
| std_msgs | |
| sensor_msgs | |
| ackermann_msgs | |
| geometry_msgs |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged auna_wallfollowing at Robotics Stack Exchange
|
|
auna_wallfollowing package from auna repoauna_cacc auna_comm auna_control auna_ekf auna_f110 auna_gazebo auna_ground_truth auna_its_msgs auna_msgs auna_nav2 auna_omnet auna_teleoperation auna_template auna_tf auna_wallfollowing auna_waypoints |
ROS Distro
|
Package Summary
| Version | 1.0.0 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/harunteper/auna.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Harun Teper
Authors
auna_wallfollowing
LiDAR-based wall-following controller for AuNa. The node subscribes to a
sensor_msgs/LaserScan topic and publishes
ackermann_msgs/AckermannDriveStamped commands that keep the vehicle at a
desired distance from the wall on its left.
Method
Two range measurements are taken at angles angle_a and angle_b. From the
pair, the node estimates the vehicle’s heading relative to the wall (alpha)
and its current perpendicular distance, then projects that distance forward by
lookahead_distance to obtain the error used for control. Steering is a PID
function of that error; the commanded speed drops to min_velocity when the
error exceeds error_threshold and is max_velocity otherwise.
The integral and derivative terms are scaled by the measured elapsed time
between callbacks, so ki and kd keep their physical meaning (1/s and s)
independently of the LiDAR rate. Periods outside [min_dt, max_dt] are treated
as unreliable — a dropped scan, a paused simulation, a clock jump — and the
rate-dependent terms are held for that cycle.
Topics
| Direction | Topic (default) | Type |
|---|---|---|
| Subscribe | scan |
sensor_msgs/LaserScan |
| Publish | cmd_vel/wallfollowing |
ackermann_msgs/AckermannDriveStamped |
Both are configurable via the lidarscan_topic and drive_topic parameters.
The output topic is one of the input sources of the auna_control command
multiplexer; select wallfollowing in the RViz control panel to drive with it.
Parameters
| Parameter | Default | Meaning |
|---|---|---|
kp |
0.25 | Proportional gain |
ki |
0.0 | Integral gain (1/s) |
kd |
0.0 | Derivative gain (s) |
desired_distance |
0.5 | Target distance to the wall (m) |
velocity |
1.5 | Base velocity (m/s) |
min_velocity |
1.0 | Velocity when the error exceeds error_threshold (m/s) |
max_velocity |
2.0 | Velocity when the error is within error_threshold (m/s) |
error_threshold |
1.0 | Error above which the vehicle slows down (m) |
max_steering_angle |
0.4189 | Steering limit (rad, ~24°) |
angle_a |
π/4 | First scan angle used for the wall estimate (rad) |
angle_b |
π/2 | Second scan angle, perpendicular to the vehicle (rad) |
lookahead_distance |
1.0 | Forward projection of the distance error (m) |
min_dt |
0.001 | Shortest plausible control period (s) |
max_dt |
0.5 | Longest plausible control period (s) |
max_integral |
1.0 | Anti-windup clamp on the integral term |
lidarscan_topic |
scan |
Input scan topic |
drive_topic |
cmd_vel/wallfollowing |
Output drive topic |
Defaults are set in auna_common/config/wallfollowing/wallfollowing.yaml.
Running
Within a scenario, the controller is started by the wallfollowing Compose
service. Standalone:
ros2 launch auna_wallfollowing wallfollowing.launch.py
Tests
colcon test --packages-select auna_wallfollowing
colcon test-result --verbose
test/test_wallfollowing_pid.cpp verifies that the integral and derivative
terms are invariant to the callback rate, that an implausible period holds those
terms, and that the anti-windup clamp bounds the integral in both directions.
Tuning note
ki and kd are interpreted as true integral and derivative gains. Gain sets
tuned before elapsed-time scaling was introduced need to be converted: divide
the old kd by the callback period and multiply the old ki by it. The shipped
defaults are zero for both, so the default configuration is unaffected.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_cmake_gtest | |
| ament_lint_auto | |
| ament_lint_common | |
| rclcpp | |
| rclpy | |
| std_msgs | |
| sensor_msgs | |
| ackermann_msgs | |
| geometry_msgs |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged auna_wallfollowing at Robotics Stack Exchange
|
|
auna_wallfollowing package from auna repoauna_cacc auna_comm auna_control auna_ekf auna_f110 auna_gazebo auna_ground_truth auna_its_msgs auna_msgs auna_nav2 auna_omnet auna_teleoperation auna_template auna_tf auna_wallfollowing auna_waypoints |
ROS Distro
|
Package Summary
| Version | 1.0.0 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/harunteper/auna.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Harun Teper
Authors
auna_wallfollowing
LiDAR-based wall-following controller for AuNa. The node subscribes to a
sensor_msgs/LaserScan topic and publishes
ackermann_msgs/AckermannDriveStamped commands that keep the vehicle at a
desired distance from the wall on its left.
Method
Two range measurements are taken at angles angle_a and angle_b. From the
pair, the node estimates the vehicle’s heading relative to the wall (alpha)
and its current perpendicular distance, then projects that distance forward by
lookahead_distance to obtain the error used for control. Steering is a PID
function of that error; the commanded speed drops to min_velocity when the
error exceeds error_threshold and is max_velocity otherwise.
The integral and derivative terms are scaled by the measured elapsed time
between callbacks, so ki and kd keep their physical meaning (1/s and s)
independently of the LiDAR rate. Periods outside [min_dt, max_dt] are treated
as unreliable — a dropped scan, a paused simulation, a clock jump — and the
rate-dependent terms are held for that cycle.
Topics
| Direction | Topic (default) | Type |
|---|---|---|
| Subscribe | scan |
sensor_msgs/LaserScan |
| Publish | cmd_vel/wallfollowing |
ackermann_msgs/AckermannDriveStamped |
Both are configurable via the lidarscan_topic and drive_topic parameters.
The output topic is one of the input sources of the auna_control command
multiplexer; select wallfollowing in the RViz control panel to drive with it.
Parameters
| Parameter | Default | Meaning |
|---|---|---|
kp |
0.25 | Proportional gain |
ki |
0.0 | Integral gain (1/s) |
kd |
0.0 | Derivative gain (s) |
desired_distance |
0.5 | Target distance to the wall (m) |
velocity |
1.5 | Base velocity (m/s) |
min_velocity |
1.0 | Velocity when the error exceeds error_threshold (m/s) |
max_velocity |
2.0 | Velocity when the error is within error_threshold (m/s) |
error_threshold |
1.0 | Error above which the vehicle slows down (m) |
max_steering_angle |
0.4189 | Steering limit (rad, ~24°) |
angle_a |
π/4 | First scan angle used for the wall estimate (rad) |
angle_b |
π/2 | Second scan angle, perpendicular to the vehicle (rad) |
lookahead_distance |
1.0 | Forward projection of the distance error (m) |
min_dt |
0.001 | Shortest plausible control period (s) |
max_dt |
0.5 | Longest plausible control period (s) |
max_integral |
1.0 | Anti-windup clamp on the integral term |
lidarscan_topic |
scan |
Input scan topic |
drive_topic |
cmd_vel/wallfollowing |
Output drive topic |
Defaults are set in auna_common/config/wallfollowing/wallfollowing.yaml.
Running
Within a scenario, the controller is started by the wallfollowing Compose
service. Standalone:
ros2 launch auna_wallfollowing wallfollowing.launch.py
Tests
colcon test --packages-select auna_wallfollowing
colcon test-result --verbose
test/test_wallfollowing_pid.cpp verifies that the integral and derivative
terms are invariant to the callback rate, that an implausible period holds those
terms, and that the anti-windup clamp bounds the integral in both directions.
Tuning note
ki and kd are interpreted as true integral and derivative gains. Gain sets
tuned before elapsed-time scaling was introduced need to be converted: divide
the old kd by the callback period and multiply the old ki by it. The shipped
defaults are zero for both, so the default configuration is unaffected.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_cmake_gtest | |
| ament_lint_auto | |
| ament_lint_common | |
| rclcpp | |
| rclpy | |
| std_msgs | |
| sensor_msgs | |
| ackermann_msgs | |
| geometry_msgs |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged auna_wallfollowing at Robotics Stack Exchange
|
|
auna_wallfollowing package from auna repoauna_cacc auna_comm auna_control auna_ekf auna_f110 auna_gazebo auna_ground_truth auna_its_msgs auna_msgs auna_nav2 auna_omnet auna_teleoperation auna_template auna_tf auna_wallfollowing auna_waypoints |
ROS Distro
|
Package Summary
| Version | 1.0.0 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/harunteper/auna.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Harun Teper
Authors
auna_wallfollowing
LiDAR-based wall-following controller for AuNa. The node subscribes to a
sensor_msgs/LaserScan topic and publishes
ackermann_msgs/AckermannDriveStamped commands that keep the vehicle at a
desired distance from the wall on its left.
Method
Two range measurements are taken at angles angle_a and angle_b. From the
pair, the node estimates the vehicle’s heading relative to the wall (alpha)
and its current perpendicular distance, then projects that distance forward by
lookahead_distance to obtain the error used for control. Steering is a PID
function of that error; the commanded speed drops to min_velocity when the
error exceeds error_threshold and is max_velocity otherwise.
The integral and derivative terms are scaled by the measured elapsed time
between callbacks, so ki and kd keep their physical meaning (1/s and s)
independently of the LiDAR rate. Periods outside [min_dt, max_dt] are treated
as unreliable — a dropped scan, a paused simulation, a clock jump — and the
rate-dependent terms are held for that cycle.
Topics
| Direction | Topic (default) | Type |
|---|---|---|
| Subscribe | scan |
sensor_msgs/LaserScan |
| Publish | cmd_vel/wallfollowing |
ackermann_msgs/AckermannDriveStamped |
Both are configurable via the lidarscan_topic and drive_topic parameters.
The output topic is one of the input sources of the auna_control command
multiplexer; select wallfollowing in the RViz control panel to drive with it.
Parameters
| Parameter | Default | Meaning |
|---|---|---|
kp |
0.25 | Proportional gain |
ki |
0.0 | Integral gain (1/s) |
kd |
0.0 | Derivative gain (s) |
desired_distance |
0.5 | Target distance to the wall (m) |
velocity |
1.5 | Base velocity (m/s) |
min_velocity |
1.0 | Velocity when the error exceeds error_threshold (m/s) |
max_velocity |
2.0 | Velocity when the error is within error_threshold (m/s) |
error_threshold |
1.0 | Error above which the vehicle slows down (m) |
max_steering_angle |
0.4189 | Steering limit (rad, ~24°) |
angle_a |
π/4 | First scan angle used for the wall estimate (rad) |
angle_b |
π/2 | Second scan angle, perpendicular to the vehicle (rad) |
lookahead_distance |
1.0 | Forward projection of the distance error (m) |
min_dt |
0.001 | Shortest plausible control period (s) |
max_dt |
0.5 | Longest plausible control period (s) |
max_integral |
1.0 | Anti-windup clamp on the integral term |
lidarscan_topic |
scan |
Input scan topic |
drive_topic |
cmd_vel/wallfollowing |
Output drive topic |
Defaults are set in auna_common/config/wallfollowing/wallfollowing.yaml.
Running
Within a scenario, the controller is started by the wallfollowing Compose
service. Standalone:
ros2 launch auna_wallfollowing wallfollowing.launch.py
Tests
colcon test --packages-select auna_wallfollowing
colcon test-result --verbose
test/test_wallfollowing_pid.cpp verifies that the integral and derivative
terms are invariant to the callback rate, that an implausible period holds those
terms, and that the anti-windup clamp bounds the integral in both directions.
Tuning note
ki and kd are interpreted as true integral and derivative gains. Gain sets
tuned before elapsed-time scaling was introduced need to be converted: divide
the old kd by the callback period and multiply the old ki by it. The shipped
defaults are zero for both, so the default configuration is unaffected.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_cmake_gtest | |
| ament_lint_auto | |
| ament_lint_common | |
| rclcpp | |
| rclpy | |
| std_msgs | |
| sensor_msgs | |
| ackermann_msgs | |
| geometry_msgs |